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Changed conf params
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@ddetommaso
ddetommaso committed Dec 9, 2021
1 parent 789066a commit 3ac9166
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Showing 7 changed files with 177 additions and 11 deletions.
6 changes: 3 additions & 3 deletions .env
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@@ -1,5 +1,5 @@
PROJECT_NAME=icub
RELEASE_TAG=distro_2021.08.1_v2
DOCKER_SRC=iitschri/yarp-docker:v3.4.6
BUILD_ARGS=--build-arg ICUBMAIN_TAG_VER=v1.21.0
RELEASE_TAG=distro_2021.11.0
DOCKER_SRC=iitschri/yarp-docker:v3.5.1
BUILD_ARGS=--build-arg ICUBMAIN_TAG_VER=v1.22.0
XRANDR_CONF=
7 changes: 7 additions & 0 deletions docker-compose.yml
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Expand Up @@ -7,5 +7,12 @@ services:

environment:
- PROJECT_NAME=${PROJECT_NAME}
- ICUB_SIMULATION=true
- ICUB_NAME=iCubSim
- ICUB_USER=icub
- ICUB_PSW=icub
- ICUB_HOST=pc104
- ICUB_APPS=/home/docky/workdir/apps


command: sh -c "terminator & bash /home/docky/init.sh"
3 changes: 0 additions & 3 deletions init.sh
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@@ -1,8 +1,6 @@
#!/bin/bash

# $1: simulation $2: icub user, $3: icub psw, $4: icub host, $5: yarpmanager apps folder, $6 UID
. /home/docky/workdir/icub.config
export ICUB_NAME=$ICUB_NAME

env_robot()
{
Expand Down Expand Up @@ -49,7 +47,6 @@ yarprun --server /root --log &
yarpmanager --apppath ${APPS}/applications/ --from ${APPS}/cluster-config.xml
}

export ICUB_NAME="$ICUB_NAME"
if [ "$ICUB_SIMULATION" = true ]
then
env_sim "$ICUB_APPS"
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62 changes: 62 additions & 0 deletions workdir/apps/applications/icub-sim.xml
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<application>
<name>iCub Simulation</name>

<module>
<name>yarplogger</name>
<parameters>--start --no_stop</parameters>
<node>localhost</node>
</module>

<module>
<name>iCub_SIM</name>
<environment>YARP_FORWARD_LOG_ENABLE=1</environment>
<node>localhost</node>
</module>

<module>
<name>iKinGazeCtrl</name>
<parameters>--from configSim.ini</parameters>
<environment>YARP_FORWARD_LOG_ENABLE=1</environment>
<node>localhost</node>
</module>

<module>
<name>simFaceExpressions</name>
<parameters></parameters>
<environment>YARP_FORWARD_LOG_ENABLE=1</environment>
<node>localhost</node>
</module>

<module>
<name>emotionInterface</name>
<parameters>--name /icubSim/face/emotions</parameters>
<environment>YARP_FORWARD_LOG_ENABLE=1</environment>
<node>localhost</node>
</module>

<module>
<name>yarpdev</name>
<parameters>--device speech --lingware-context speech --default-language it-IT --pitch 100 --speed 100</parameters>
<environment>YARP_FORWARD_LOG_ENABLE=1</environment>
<node>localhost</node>
</module>

<connection>
<from>/face/eyelids</from>
<to>/icubSim/face/eyelids</to>
<protocol>tcp</protocol>
</connection>

<connection>
<from>/face/image/out</from>
<to>/icubSim/texture/face</to>
<protocol>tcp</protocol>
</connection>

<connection>
<from>/icubSim/face/emotions/out</from>
<to>/icubSim/face/raw/in</to>
<protocol>tcp</protocol>
</connection>

</application>
98 changes: 98 additions & 0 deletions workdir/apps/applications/icub.xml
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<application>
<name>iCub</name>

<authors>
<author email="[email protected]">Davide De Tommaso</author>
</authors>

<module>
<name>yarplogger</name>
<parameters>--start --no_stop</parameters>
<node>localhost</node>
</module>

<module>
<name>yarprobotinterface</name>
<node>pc104</node>
</module>

<module>
<name>yarpdev</name>
<parameters> --from camera/dragonfly2_config_right.ini</parameters>
<node>pc104</node>
</module>

<module>
<name>camCalib</name>
<parameters>--context cameraCalibration --from icubEyes.ini --group CAMERA_CALIBRATION_RIGHT --name /icub/camcalib/right</parameters>
<node>localhost</node>
</module>
<module>

<name>frameGrabberGui2</name>
<parameters>--local /icub/fggui/right --remote /icub/cam/right --x 0 --y 350 --width 350 --height 500</parameters>
<node>localhost</node>
<dependencies>
<port timeout="10">/icub/cam/right</port>
</dependencies>
</module>

<module>
<name>yarpview</name>
<parameters>--name /face --x 0 --y 0 --p 50 --w 320 --h 240</parameters>
<node>localhost</node>
</module>

<module>
<name>faceLandmarks</name>
<node>localhost</node>
</module>

<module>
<name>yarpdev</name>
<parameters>--name /icub/face/raw --device serial --subdevice serialport --context faceExpressions --from serialport.ini</parameters>
<node>pc104</node>
<tag>face_device</tag>
</module>

<module>
<name>emotionInterface</name>
<parameters>--name /icub/face/emotions --context faceExpressions --from emotions.ini</parameters>
<node>pc104</node>
<tag>emotions_interface</tag>
</module>

<module>
<name>iKinGazeCtrl</name>
<parameters>--from config.ini --head_version 2.5 --saccades off --imu::mode off --eye_tilt::max 5 --eye_tilt::min -5</parameters>
<node>localhost</node>
<dependencies>
<port timeout="60.0" request="is_ready" reply="[ok]">/icub/yarprobotinterface</port>
</dependencies>
</module>

<connection>
<from>/icub/cam/right</from>
<to>/icub/camcalib/right/in</to>
<protocol>udp</protocol>
</connection>

<connection>
<from>/faceLandmarks/image:o</from>
<to>/face</to>
<protocol>udp</protocol>
</connection>

<connection>
<output>/icub/camcalib/right/out</output>
<input>/faceLandmarks/image:i</input>
<protocol>udp</protocol>
</connection>

<connection>
<from>/icub/face/emotions/out</from>
<to>/icub/face/raw/in</to>
<protocol>tcp</protocol>
</connection>

</application>
7 changes: 7 additions & 0 deletions workdir/apps/cluster-config.xml
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<cluster name="icub_cluster" user="icub">

<nameserver namespace="/root" node="localhost"></nameserver>
<node display=":0.0">localhost</node>
<node>pc104</node>

</cluster>
5 changes: 0 additions & 5 deletions workdir/icub.config
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